On the minimal synchronism needed for distributed consensus
Journal of the ACM (JACM)
Unreliable failure detectors for reliable distributed systems
Journal of the ACM (JACM)
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Reaching Agreement in the Presence of Faults
Journal of the ACM (JACM)
Performance evaluation of scheduling algorithms for Bluetooth
Broadband communications
Distributed fair scheduling in a wireless LAN
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Ad hoc networking: an introduction
Ad hoc networking
Smooth is better than sharp: a random mobility model for simulation of wireless networks
MSWIM '01 Proceedings of the 4th ACM international workshop on Modeling, analysis and simulation of wireless and mobile systems
Deadline Scheduling for Real-Time Systems: Edf and Related Algorithms
Deadline Scheduling for Real-Time Systems: Edf and Related Algorithms
The Design and Analysis of Computer Algorithms
The Design and Analysis of Computer Algorithms
Heterogeneous Teams of Modular Robots for Mapping and Exploration
Autonomous Robots
The Spatial Node Distribution of the Random Waypoint Mobility Model
Mobile Ad-Hoc Netzwerke, 1. deutscher Workshop über Mobile Ad-Hoc Netzwerke WMAN 2002
Link Stability in Mobile Wireless Ad Hoc Networks
LCN '02 Proceedings of the 27th Annual IEEE Conference on Local Computer Networks
An Implicit Prioritized Access Protocol for Wireless Sensor Networks
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Dynamic bandwidth management in single-hop ad hoc wireless networks
Mobile Networks and Applications
Adding multicast capabilities to wireless multi-hop token-passing protocols: extending the RT-WMP
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Enforcing Network Connectivity in Robot Team Missions
International Journal of Robotics Research
Relative positions within small teams of mobile units
MSN'07 Proceedings of the 3rd international conference on Mobile ad-hoc and sensor networks
A loose synchronisation protocol for managing RF ranging in mobile ad-hoc networks
Robot Soccer World Cup XV
RSSI-based relative localisation for mobile robots
Ad Hoc Networks
| Hi-index | 0.00 |
Wireless communication technology is spreading quickly in almost all the information technology areas as a consequence of a gradual enhancement in quality and security of the communication, together with a decrease in the related costs. This facilitates the development of relatively low-cost teams of autonomous (robotic) mobile units that cooperate to achieve a common goal. Providing real-time communication among the team units is highly desirable for guaranteeing a predictable behavior in those applications in which the robots have to operate autonomously in unstructured environments. This paper proposes a MAC protocol for wireless communication that supports dynamic resource reservation and topology management for relatively small networks of cooperative units (10-20 units). The protocol uses a slotted time-triggered medium access transmission control that is collision-free, even in the presence of hidden nodes. The transmissions are scheduled according to the earliest deadline first scheduling policy. An adequate admission control guarantees the timing constraints of the team communication requirements, including when new nodes dynamically join or leave the team. The paper describes the protocol focusing on the consensus procedure that supports coherent changes in the global system. We also introduce a distributed connectivity tracking mechanism that is used to detect network partition and absent or crashed nodes. Finally, a set of simulation results are shown that illustrate the effectiveness of the proposed approaches.